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Allow to in-air restore the FMU and IO arming state if only one of the two fails

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This commit is contained in:
Lorenz Meier
2013-02-17 16:06:33 +01:00
parent 6bd18e46bb
commit 038037d676
5 changed files with 207 additions and 41 deletions
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apps/px4io/protocol.h
+21 -21
View File
@@ -64,9 +64,9 @@
* packed.
*/
#define PX4IO_CONTROL_CHANNELS 8
#define PX4IO_INPUT_CHANNELS 12
#define PX4IO_RELAY_CHANNELS 4
#define PX4IO_CONTROL_CHANNELS 8
#define PX4IO_INPUT_CHANNELS 12
#define PX4IO_RELAY_CHANNELS 4
/* Per C, this is safe for all 2's complement systems */
#define REG_TO_SIGNED(_reg) ((int16_t)(_reg))
@@ -76,7 +76,7 @@
#define FLOAT_TO_REG(_float) SIGNED_TO_REG((int16_t)((_float) * 10000.0f))
/* static configuration page */
#define PX4IO_PAGE_CONFIG 0
#define PX4IO_PAGE_CONFIG 0
#define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* magic numbers TBD */
#define PX4IO_P_CONFIG_SOFTWARE_VERSION 1 /* magic numbers TBD */
#define PX4IO_P_CONFIG_BOOTLOADER_VERSION 2 /* get this how? */
@@ -88,11 +88,11 @@
#define PX4IO_P_CONFIG_RELAY_COUNT 8 /* harcoded # of relay outputs */
/* dynamic status page */
#define PX4IO_PAGE_STATUS 1
#define PX4IO_PAGE_STATUS 1
#define PX4IO_P_STATUS_FREEMEM 0
#define PX4IO_P_STATUS_CPULOAD 1
#define PX4IO_P_STATUS_FLAGS 2 /* monitoring flags */
#define PX4IO_P_STATUS_FLAGS 2 /* monitoring flags */
#define PX4IO_P_STATUS_FLAGS_ARMED (1 << 0) /* arm-ok and locally armed */
#define PX4IO_P_STATUS_FLAGS_OVERRIDE (1 << 1) /* in manual override */
#define PX4IO_P_STATUS_FLAGS_RC_OK (1 << 2) /* RC input is valid */
@@ -103,7 +103,7 @@
#define PX4IO_P_STATUS_FLAGS_RAW_PWM (1 << 7) /* raw PWM from FMU is bypassing the mixer */
#define PX4IO_P_STATUS_FLAGS_MIXER_OK (1 << 8) /* mixer is OK */
#define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */
#define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */
#define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* VBatt is very close to regulator dropout */
#define PX4IO_P_STATUS_ALARMS_TEMPERATURE (1 << 1) /* board temperature is high */
#define PX4IO_P_STATUS_ALARMS_SERVO_CURRENT (1 << 2) /* servo current limit was exceeded */
@@ -115,29 +115,29 @@
#define PX4IO_P_STATUS_IBATT 5 /* battery current in cA */
/* array of post-mix actuator outputs, -10000..10000 */
#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */
#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */
/* array of PWM servo output values, microseconds */
#define PX4IO_PAGE_SERVOS 3 /* 0..CONFIG_ACTUATOR_COUNT-1 */
#define PX4IO_PAGE_SERVOS 3 /* 0..CONFIG_ACTUATOR_COUNT-1 */
/* array of raw RC input values, microseconds */
#define PX4IO_PAGE_RAW_RC_INPUT 4
#define PX4IO_PAGE_RAW_RC_INPUT 4
#define PX4IO_P_RAW_RC_COUNT 0 /* number of valid channels */
#define PX4IO_P_RAW_RC_BASE 1 /* CONFIG_RC_INPUT_COUNT channels from here */
/* array of scaled RC input values, -10000..10000 */
#define PX4IO_PAGE_RC_INPUT 5
#define PX4IO_PAGE_RC_INPUT 5
#define PX4IO_P_RC_VALID 0 /* bitmask of valid controls */
#define PX4IO_P_RC_BASE 1 /* CONFIG_RC_INPUT_COUNT controls from here */
/* array of raw ADC values */
#define PX4IO_PAGE_RAW_ADC_INPUT 6 /* 0..CONFIG_ADC_INPUT_COUNT-1 */
#define PX4IO_PAGE_RAW_ADC_INPUT 6 /* 0..CONFIG_ADC_INPUT_COUNT-1 */
/* setup page */
#define PX4IO_PAGE_SETUP 100
#define PX4IO_PAGE_SETUP 100
#define PX4IO_P_SETUP_FEATURES 0
#define PX4IO_P_SETUP_ARMING 1 /* arming controls */
#define PX4IO_P_SETUP_ARMING 1 /* arming controls */
#define PX4IO_P_SETUP_ARMING_ARM_OK (1 << 0) /* OK to arm */
#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK (1 << 2) /* OK to switch to manual override via override RC channel */
#define PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK (1 << 3) /* OK to perform position / vector control (= position lock) */
@@ -152,13 +152,13 @@
#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */
/* autopilot control values, -10000..10000 */
#define PX4IO_PAGE_CONTROLS 101 /* 0..CONFIG_CONTROL_COUNT */
#define PX4IO_PAGE_CONTROLS 101 /* 0..CONFIG_CONTROL_COUNT */
/* raw text load to the mixer parser - ignores offset */
#define PX4IO_PAGE_MIXERLOAD 102
#define PX4IO_PAGE_MIXERLOAD 102
/* R/C channel config */
#define PX4IO_PAGE_RC_CONFIG 103 /* R/C input configuration */
#define PX4IO_PAGE_RC_CONFIG 103 /* R/C input configuration */
#define PX4IO_P_RC_CONFIG_MIN 0 /* lowest input value */
#define PX4IO_P_RC_CONFIG_CENTER 1 /* center input value */
#define PX4IO_P_RC_CONFIG_MAX 2 /* highest input value */
@@ -170,10 +170,10 @@
#define PX4IO_P_RC_CONFIG_STRIDE 6 /* spacing between channel config data */
/* PWM output - overrides mixer */
#define PX4IO_PAGE_DIRECT_PWM 104 /* 0..CONFIG_ACTUATOR_COUNT-1 */
#define PX4IO_PAGE_DIRECT_PWM 104 /* 0..CONFIG_ACTUATOR_COUNT-1 */
/* PWM failsafe values - zero disables the output */
#define PX4IO_PAGE_FAILSAFE_PWM 105 /* 0..CONFIG_ACTUATOR_COUNT-1 */
#define PX4IO_PAGE_FAILSAFE_PWM 105 /* 0..CONFIG_ACTUATOR_COUNT-1 */
/**
* As-needed mixer data upload.
@@ -187,8 +187,8 @@ struct px4io_mixdata {
#define F2I_MIXER_MAGIC 0x6d74
uint8_t action;
#define F2I_MIXER_ACTION_RESET 0
#define F2I_MIXER_ACTION_APPEND 1
#define F2I_MIXER_ACTION_RESET 0
#define F2I_MIXER_ACTION_APPEND 1
char text[0]; /* actual text size may vary */
};
apps/px4io/registers.c
+12 -3
View File
@@ -290,11 +290,20 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
case PX4IO_P_SETUP_ARMING:
value &= PX4IO_P_SETUP_ARMING_VALID;
/*
* Update arming state - disarm if no longer OK.
* This builds on the requirement that the FMU driver
* asks about the FMU arming state on initialization,
* so that an in-air reset of FMU can not lead to a
* lockup of the IO arming state.
*/
if ((r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) && !(value & PX4IO_P_SETUP_ARMING_ARM_OK)) {
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED;
}
r_setup_arming = value;
/* update arming state - disarm if no longer OK */
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) && !(value & PX4IO_P_SETUP_ARMING_ARM_OK))
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED;
break;
case PX4IO_P_SETUP_PWM_RATES: